【摘要】 研究了INS/CNS/GPS组合导航系统的原理和特点,对组合导航系统进行了计算机仿真,提出了采用平台失准角、INS与GPS的位置之差和速度之差作为观测量的方法。采用卡尔曼滤波技术,可以估计出平台的失准角、惯性器件误差及导航参数误差。仿真结果表明:通过校正惯导平台、消除导航参数误差,可以大大提高了系统的导航精度。更多还原

【Abstract】 This paper investigates the theory and characteristics of INS/CNS/GPS integrated navigation system and simulates the system. The author present a new method using the error-angles of the platform, the position differences of INS and GPS, the velocity differences of INS and GPS as measurements. The error-angles of the platform, the error of the gyros, the accelerators and other navigation parameters can be estimated using Kalman filter. The results of simulation show that the integrated navigation system improves the precision of navigation system greatly by correcting the platform and eliminating the error of navigation parameters.更多还原